ARG BASE_IMAGE=nvcr.io/nvidia/isaac-lab:2.0.2
FROM $BASE_IMAGE
WORKDIR /workspace

RUN cat << 'EOF' >> /isaac-sim/apps/isaacsim.exp.base.kit
[settings]
persistent.isaac.asset_root.default = "/data/isaacsim_assets/assets/Assets/Isaac/4.5"
exts.isaacsim.asset.browser.folders = [
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Robots",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/People",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/IsaacLab",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Props",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Environments",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Materials",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Samples",
    "/data/isaacsim_assets/assets/Assets/Isaac/4.5/Isaac/Sensors"
]
EOF

RUN git clone --branch isaaclab-2.0 https://github.com/yang-zj1026/NaVILA-Bench.git && \
    ln -s /data/isaacsim_assets /workspace/isaaclab/source/ && \
    ln -s /workspace/NaVILA-Bench/isaaclab_exts/omni.isaac.matterport /workspace/isaaclab/source/ && \
    /workspace/isaaclab/isaaclab.sh -i none && \
    /workspace/isaaclab/isaaclab.sh -p -m pip install -e /workspace/NaVILA-Bench/scripts/rsl_rl && \
    /workspace/isaaclab/_isaac_sim/kit/python/bin/python3 -m pip install tensordict==0.9.1 

# 取消注释 CMD 指令，如果需要启动容器时运行脚本
# CMD [ "bash", "/scripts/startup.sh", "bash" ]




